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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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Velocity scale applied twice to limit #251

Open scharalambous-sony opened 2 months ago

scharalambous-sony commented 2 months ago
  1. cuRobo installation mode: python

  2. python version: 3.10.12

    Hi, Are velocity_scale/acceleration_scale/jerk_scale redundant with the corresponding ones in MotionGenConfig? If yes, what's the recommended way to apply a scale to the vel/acc/jerk limits? I am facing a bug where the velocity_scale is applied twice reducing the velocity limits by a factor of (velocity_scale)^2

scharalambous-sony commented 2 months ago

This is indeed an issue. I have included a unit test that replicates that in #253